void ROSOutput3DWrapper::publishTrackedFrame(Frame* kf)
{
lsd_slam_viewer::keyframeMsg fMsg;
fMsg.id = kf->id();
fMsg.time = kf->timeStampNs()/1000000.0;
fMsg.isKeyframe = false;
memcpy(fMsg.camToWorld.data(),kf->getScaledCamToWorld().cast<float>().data(),sizeof(float)*7);
fMsg.fx = kf->fx(publishLvl);
fMsg.fy = kf->fy(publishLvl);
fMsg.cx = kf->cx(publishLvl);
fMsg.cy = kf->cy(publishLvl);
fMsg.width = kf->width(publishLvl);
fMsg.height = kf->height(publishLvl);
fMsg.pointcloud.clear();
liveframe_publisher.publish(fMsg);
SE3 camToWorld = se3FromSim3(kf->getScaledCamToWorld());
geometry_msgs::PoseStamped pMsg;
pMsg.pose.position.x = camToWorld.translation()[0];
pMsg.pose.position.y = camToWorld.translation()[1];
pMsg.pose.position.z = camToWorld.translation()[2];
pMsg.pose.orientation.x = camToWorld.so3().unit_quaternion().x();
pMsg.pose.orientation.y = camToWorld.so3().unit_quaternion().y();
pMsg.pose.orientation.z = camToWorld.so3().unit_quaternion().z();
pMsg.pose.orientation.w = camToWorld.so3().unit_quaternion().w();
if (pMsg.pose.orientation.w < 0)
{
pMsg.pose.orientation.x *= -1;
pMsg.pose.orientation.y *= -1;
pMsg.pose.orientation.z *= -1;
pMsg.pose.orientation.w *= -1;
}
pMsg.header.stamp = ros::Time(kf->timeStampNs()/1000000.0);
pMsg.header.frame_id = "world";
pose_publisher.publish(pMsg);
}
Sim3 Sim3
::from_SE3(const SE3 & se3)
{
return Sim3(ScSO3(1.,se3.so3()),se3.translation());
}
